55 lines
1.5 KiB
C++
55 lines
1.5 KiB
C++
/*
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* Copyright (C) 2012 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#ifndef _GAZEBO_BULLETMESHSHAPE_HH_
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#define _GAZEBO_BULLETMESHSHAPE_HH_
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#include "gazebo/physics/MeshShape.hh"
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#include "gazebo/util/system.hh"
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namespace gazebo
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{
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namespace physics
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{
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class BulletMesh;
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/// \ingroup gazebo_physics
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/// \addtogroup gazebo_physics_bullet Bullet Physics
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/// \{
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/// \brief Triangle mesh collision
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class GZ_PHYSICS_VISIBLE BulletMeshShape : public MeshShape
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{
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/// \brief Constructor
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public: BulletMeshShape(CollisionPtr _parent);
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/// \brief Destructor
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public: virtual ~BulletMeshShape();
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/// \brief Load the trimesh
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public: virtual void Load(sdf::ElementPtr _sdf);
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/// \brief Initialize the mesh shape.
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protected: virtual void Init();
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/// \brief Bullet collision mesh helper class
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private: BulletMesh *bulletMesh;
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};
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/// \}
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}
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}
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#endif
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